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            <span>一月 26, 2022</span>
            
  <ul class="post-tags-list" itemprop="keywords"><li class="post-tags-list-item"><a class="post-tags-list-link" href="/tags/%E8%BD%AF%E4%BB%B6/" rel="tag">软件</a></li></ul>


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            <h1 id="ROS的安装"><a href="#ROS的安装" class="headerlink" title="ROS的安装"></a>ROS的安装</h1><p>1.ubuntu18.04  安装ros melodic</p>
<p>2.ubuntu16  安装ros kinetic</p>
<ul>
<li>rosdep 不成功 可跳过</li>
</ul>
<p><a target="_blank" rel="noopener" href="https://www.bilibili.com/video/BV1Ci4y1L7ZZ/">ros学习教程地址</a><img src="https://s2.loli.net/2022/01/24/oBNb1VaCRxhgvnE.png" alt="image-20220124213358659"></p>
<h1 id="ROS-功能"><a href="#ROS-功能" class="headerlink" title="ROS 功能"></a>ROS 功能</h1><h3 id="1-roscove节点式通信"><a href="#1-roscove节点式通信" class="headerlink" title="1.roscove节点式通信"></a>1.roscove节点式通信</h3><ul>
<li>topic（通话）通信：</li>
</ul>
<p>​				单向  可连续发送</p>
<ul>
<li><p>service（服务）通信：</p>
<p> 只有一次通信后 才可以建立通信通道</p>
</li>
</ul>
<p><img src="https://s2.loli.net/2022/01/24/RscgOPkZ5hUqYre.png" alt="image-20220124210343443.png"></p>
<p>模板 大概</p>
<ul>
<li><p>ros功能包：</p>
<p><img src="https://s2.loli.net/2022/01/24/3PfcIu2DLWCKd5h.png" alt="image-20220124210431270">	</p>
<ul>
<li>build 产生的可执行文件</li>
<li>devel 头文件、依赖的包</li>
<li>src 源文件</li>
</ul>
</li>
</ul>
<blockquote>
<p>用到了         回调函数<img src="https://s2.loli.net/2022/01/24/HRSywPmNupcdUEa.png" alt="image-20220124211509030.png"></p>
<p><img src="https://s2.loli.net/2022/01/24/N6tQ1zoTYdCH4ZD.png" alt="image-20220124210834225.png"></p>
</blockquote>
<ul>
<li><p><img src="https://s2.loli.net/2022/01/24/vMixcuUFY75I9Wq.png" alt="image-20220124210550748"></p>
<p>include——头文件				</p>
<p>src——源码      </p>
<p>CMakelists.txt——加载编译文件源码把药变异的内容交给编译器    </p>
<p>package.xml——ros功能包相关内容</p>
</li>
</ul>
<h3 id="2-物理仿生环境gazabo（可以想象成一个节点）"><a href="#2-物理仿生环境gazabo（可以想象成一个节点）" class="headerlink" title="2.物理仿生环境gazabo（可以想象成一个节点）"></a>2.物理仿生环境gazabo（可以想象成一个节点）</h3><p>​			模拟现实环境</p>
<h3 id="3-Rivice"><a href="#3-Rivice" class="headerlink" title="3.Rivice"></a>3.Rivice<img src="https://s2.loli.net/2022/01/24/FMzKlZNi8eCP4c3.png" alt="image-20220124205422280"></h3><p>根据需要开发可视化界面</p>
<h3 id="4-rqt工具箱"><a href="#4-rqt工具箱" class="headerlink" title="4.rqt工具箱"></a>4.rqt工具箱</h3><p><img src="https://s2.loli.net/2022/01/24/QR1e23P4ZDBsyvC.png" alt="image-20220124210135175"></p>
<h3 id="5-收发模板"><a href="#5-收发模板" class="headerlink" title="5.收发模板"></a>5.收发模板</h3><p>北大模板生成   包&#x2F;项目   —–用 <code>类</code> 的方法 实现  多个节点同时工作  （多收多发）</p>

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